Parallel Position/Force Control of Epicardial Wire Robot Based on Ellipsoid Geodesy
Abstract
Gene therapies are emerging as an increasingly promising treatment for congestive heart failure. However, their effectiveness is linked to the method for delivery to the target region of the heart. Current methods lack an approach for minimally invasive, uniform delivery. To address this need we developed Cerberus, a minimally invasive parallel wire robot for cardiac interventions. Accurate and safe interventions using this device require regulation of force in addition to injector
position. Prior work on Cerberus involved developing and implementing a parallel position/force controller for a simplified planar model. This work adapts the Cerberus robot to explore the effectiveness of a control approach that accounts more
realistically for the geometry of the heart by modeling it as a prolate ellipsoid.
BibTeX
@conference{Riviere-2019-119685,author = {Eric Wilde and Sumit Dan and Nathan A. Wood and Michael J. Passineau and Michael Scott Halbreiner and Marco A. Zenati and Cameron N. Riviere},
title = {Parallel Position/Force Control of Epicardial Wire Robot Based on Ellipsoid Geodesy},
booktitle = {Proceedings of International Symposium on Medical Robotics (ISMR '19)},
year = {2019},
month = {April},
keywords = {Medical robotics; surgery; organ-mounted robots; force control},
}